近年来,清洁低碳的电-气综合能源系统(electricity-gas integrated energy system,EGIES)受到了广泛关注。然而,EGIES涉及不同能源形式的设备量测与信息传输,数据误差的产生因素复杂且不确定性突出,导致确定性的点状态估计可信度不足,...近年来,清洁低碳的电-气综合能源系统(electricity-gas integrated energy system,EGIES)受到了广泛关注。然而,EGIES涉及不同能源形式的设备量测与信息传输,数据误差的产生因素复杂且不确定性突出,导致确定性的点状态估计可信度不足,为系统安全稳定运行带来严峻挑战。针对此问题,提出基于模型-数据联合驱动的EGIES区间状态估计方法。建立EGIES加权最小二乘(weighted least square,WLS)点状态估计模型,并利用人工鱼群算法(artificial fish swarms algorithm,AFSA)求解;考虑估计结果置信水平,利用核密度估计(kernel density estimation,KDE)构造点状态估计误差区间,进而得到区间状态估计结果;基于量测量样本与区间状态估计结果样本,训练长短期记忆(long short term memory,LSTM)神经网络得到EGIES快速区间状态估计模型。以30节点电力系统与14节点天然气系统耦合的EGIES进行算例分析,结果表明,所提区间状态估计方法的区间覆盖概率均保持在置信度水平之上。同时所提方法测试集在线估计时间仅为13.97s,相比于WLS-NR-KDE方法与WLS-AFSA-KDE方法分别降低76.44%与94.00%。展开更多
The paper presents the design of walking leg for bionics crab-like robot, which is driven with micro servo motor. The kinematic characteristics of the bionics machine are analysed for optimized structure parameters, w...The paper presents the design of walking leg for bionics crab-like robot, which is driven with micro servo motor. The kinematic characteristics of the bionics machine are analysed for optimized structure parameters, which has been used in the robot design. A three closed loop motor control system structure for joint driver is also given, as well as the multi-joint driving system for walking robot leg.展开更多
文摘近年来,清洁低碳的电-气综合能源系统(electricity-gas integrated energy system,EGIES)受到了广泛关注。然而,EGIES涉及不同能源形式的设备量测与信息传输,数据误差的产生因素复杂且不确定性突出,导致确定性的点状态估计可信度不足,为系统安全稳定运行带来严峻挑战。针对此问题,提出基于模型-数据联合驱动的EGIES区间状态估计方法。建立EGIES加权最小二乘(weighted least square,WLS)点状态估计模型,并利用人工鱼群算法(artificial fish swarms algorithm,AFSA)求解;考虑估计结果置信水平,利用核密度估计(kernel density estimation,KDE)构造点状态估计误差区间,进而得到区间状态估计结果;基于量测量样本与区间状态估计结果样本,训练长短期记忆(long short term memory,LSTM)神经网络得到EGIES快速区间状态估计模型。以30节点电力系统与14节点天然气系统耦合的EGIES进行算例分析,结果表明,所提区间状态估计方法的区间覆盖概率均保持在置信度水平之上。同时所提方法测试集在线估计时间仅为13.97s,相比于WLS-NR-KDE方法与WLS-AFSA-KDE方法分别降低76.44%与94.00%。
基金the National Natural Science Foundation of China(60175029).
文摘The paper presents the design of walking leg for bionics crab-like robot, which is driven with micro servo motor. The kinematic characteristics of the bionics machine are analysed for optimized structure parameters, which has been used in the robot design. A three closed loop motor control system structure for joint driver is also given, as well as the multi-joint driving system for walking robot leg.